Method for Controlling Position of Vehicle

A system for use with a vehicle, the system comprising:

• a vehicle speed sensor;
• a yaw-rate sensor;
• a steering motor;
• and
• a controller having inputs coupled to the vehicle speed sensor and the yaw-rate sensor and an output coupled to the steering motor, the controller configured to determine whether a vehicle speed is rapidly changing while traveling in a straight direction based on an extent of depression of a pedal that changes a position of a steering wheel and a change in vehicle speed, to determine whether the vehicle is tilting from a compensation-entering condition based on a change in a yaw-rate when the vehicle speed is rapidly changing in the straight direction, and to provide compensation torque in a direction opposite a direction of tilting of the vehicle by operating a steering motor when it is determined that the vehicle is tilting.